3-axis Inertial Measurement Unit
AU7684N2x00/TAG300N2x00/TAG289N2x00

Support Manual for GNSS/INS/VS Mode

AU7684 (PCB Type)TAG289 (Compact Case Type)TAG300 (Waterproof Case Type)TAMAGAWA SEIKI CO., LTD.
TAMAGAWA TRADING CO., LTD

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode

1

Revision History
Rev Date

Page

Reason of Correction－

2020.01.10－

The document is released.

2

2020.03.12－

The new product “TAG289” is added.

32021.08.21

P16

Change contact information .

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode2

Table of Content
Introduction

4

Operation Modes

5

Connection to computer

6

1

InsMon Setup

7

2

Interface Cable

12

2.1 AU7684 Harness connection

12

2.2 TAG300 Harness connection

13

2.3 TAG289 Pin Assignment

14

2.4 Optional Interface Cable

15

External GPS Module

16

3.1 Applicable GPS Module

16

3.2 How to connect AU7684

17

3.3 How to connect TAG300

18

3.4 How to connect TAG289

19Command List

20

3

4

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode3

Introduction
This manual provides the operating procedures and cautions for the small 3-axis
Inertial Measurement Unit (IMU) AU7684, TAG300 and TAG289 GNSS/INS/VS
mode. Please read this document along with the product specification before using
the device. Regarding Leveling operation mode, please refer to the document“Support Manual (Leveling Mode)”.
ContentsAU7684N2x00/TAG300N2x00/TAG289N2x00,

which

are

an

Inertial

Measurement Units (IMU) incorporating 3-axis MEMS gyroscopes and 3-axis
integrated MEMS accelerometer. The device measures acceleration and angularrate along the X, Y, & Z axes of the sensor, attitude and heading angle.
EU8937 and EU8940 Interface Cable (sold separately)
There are 2 types of interface cable for each model. The one is loose wire type
and the other is connector type for external GPS module.
TAG289 Interface cable is attached to the product. You do not need to buy a cable separately.

External GPS Module (KGM-810GRB1_PS_917/Position) (available in market)
Regarding the inquiries and purchases, please refer to section 3 in this manual.
The AU7684 series and TAG300 series can output GPS information (latitude, longitude,
altitude, direction, speed, UTC time, etc.) by connecting a GPS module. The informationis also utilized for the calculation to reduce attitude and heading errors.

Note: if you need to use USB, please use RS232C-USB conversion cable available inthe market. Also, power source of 8-28 VDC should be prepared by customer.
Reference Documents


SPC016028W00_Specification_AU7684N2x00



SPC016108W00_Specification_TAG300N2x00



SPC016246W00_Specification_TAG289N2x00



InsMon Software Install ManualSupport Manual (Leveling Mode)

Downloads (URL: http://mems.tamagawa-seiki.com/en/download/)

InsMon Software

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode

4Operation mode
In this model, both GNSS/INS/VS Mode and Leveling Mode can be used. Pleaserefer to the product specification for the instruction of operation mode change.
*The initial setting is Leveling mode
Leveling ModeThe IMU calculates attitude (roll & pitch) and heading (yaw) from 3-axis of angular rate andacceleration. The feature of leveling mode is stable output of attitude angle (roll & pitch) for longhours.

The heading (yaw) angle is calculated by integrating Z-axis of angular rate. Therefore, it may
gradually be drifted over time. It is recommended to perform offset cancel regularly to suppress
heading (yaw) angle drift.

The leveling mode is performed on condition that the device is not moving. If the device is affectedby acceleration or centrifugal force, the attitude angle may be deteriorated. This deterioration issuppressed by entering vehicle speed and GNSS signal from external devices.

GNSS/INS/VS ModeThe calculation is performed by combining gyroscopes and accelerometers (INS data), external
GNSS data and vehicle speed.

The error of gyroscopes and accelerometers are estimated by a difference of INS data and
GNSS/VS output. In this mode, the accuracy of attitude angle is improved, and it enables to
output the position data even in GNSS-denied environment.



The connection of GNSS to IMU is needed to operate this mode. If GNSS is not connected to IMU
for a certain period of time, this mode may not be performed. It is also recommended that thevehicle speed be entered into IMU from external devices. By doing so, the dynamic accuracy isimproved.

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Support Manual for GNSS/INS/VS Mode

5

Example of PC connection
RS232C-USB
Conversion Cable(Available in market)

ＰＣ

RS232C(D-Sub9)

Connector
SMP-05V-NC

GPS (available in market）
KGM‐810GRB1PS917※DC5V is supplied from IMU

DC power supply

Interface Cable
ＩＭＵ
EU8937N1001
EU8940N1001
TAG289 Interface Cable

DC 8－28V(Banana Plug)

Block Diagram of PC connection

8－28VDC
Banana Plug

D-Sub RS232 9 Pin Male

(Sato Parts)

Connected to PC via
RS232C-USB conversion

Connector: SMP-05V-NC
Connected to GPS Module

Interface Cable (P/N: EU8940N1001)

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Support Manual for GNSS/INS/VS Mode6

1

InsMon Setup

How to setup the application
Download InsMon corresponding to the applicable model from the following
URL, and unzip it to desktop or My Documents, etc.
http://mems.tamagawa-seiki.com/en/download/
If you use GNSS/INS/VS Mode
Please use InsMon_AU7684N2x00_TAG300N2x00_RAW Folder.
If you use Leveling Mode
Please use InsMon_AU7684N2x00_TAG300N2x00_BIN Folder.



COM Port setting1) Click [Communication] → [Disconnect] and disconnect the communication.
2) Click [Communication] → [Setting] and select the COM port# which you areusing. Please do not change any other settings except for COM port#.

3) Click [Communication] → [Connect]

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode7Measurement

1) Click [Monitor 3] and following screen is displayed. If you connect the IMU
properly, angular velocity, acceleration and attitude angle are displayed.

You can also change the Frequency from [>] button next to [Req.] button. The
maximum output is 50Hz. The frequency that can be received is the values
obtained by dividing 50 by an integer. For example, 50, 25, 10, 5, 2..., etc.
In case of less than 1Hz, 0.5Hz, 0.2Hz, and 0.1Hz are available.


Data Saving

1) Input the title of file and click the save checkbox. Only BIN file can be used.
2) Press the “Req.” button and start data reception. Press “Stop” button oruncheck the checkbox when you finish data saving. The data is created in thesame folder as the exe file.
3) After measuring, you can convert a BIN file into csv file by converting Binary to
Text. You can also decimate the acquired data the by changing conversion rate,
initial setting of which is 1.

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Support Manual for GNSS/INS/VS Mode8

Change the operation from Leveling mode to GNSS/INS/VS mode

(1) With IMU connected to the computer, press [GNSS/INS/VS] or [GNSS/INS] incommand bar.
(2) Press [×] and close InsMon. After turning off the power, restart the device. Executeexe file in InsMon_AU7684N2x00_TAG300N2x00_RAW folder.
(3) Check COM port setting and press [Req] in Monitor 3. If you connect the IMU

properly, data transmission will start. The connection of GNSS module to thedevice is required for GNSS/INS/VS mode or GNSS/INS mode. The applicable
GNSS module is stated in page 15 in this manual.



Change the operation from GNSS/INS/VS mode to Leveling mode

(1) With IMU connected to the computer, press [Leveling] in command bar.
(2) Press [×] and close InsMon. After turning off the power, restart the device. Executeexe file in InsMon_AU7684N2x00_TAG300N2x00_BIN folder.
(3) Check COM port setting and press [Req] in Monitor 3. If you connect the IMU

properly, data transmission will start.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode9Operation Procedure of GNSS/INS/VS mode
Power-onPlease do not move the device

Initial attitude angle is calculated.
The calculation status becomes “1”.

during the period.
The calculation status becomes

GPS is being validated.
The calculation status becomes “0”.

“4” and you can move the device.
Please move forward along with

GNSS/INS/VS (Static)
The calculation status becomes “4”.

X axis of the device for the firstmovement.

GNSS/INS/VS (Dynamic)
The calculation status becomes “7”.

Keep GPS well received during

Power-offenvironment should be avoided.

measurement. GNSS-denied

In GNSS/INS/VS mode, calculation of initial attitude angle and GPS validation areprocessed after power-on. Please do not move IMU until GPS is validated. If IMU is moved
during this period, the initial process is not performed well and it may cause an error of
estimation. In the software InsMon, you can check it in monitor 3.
STATUS＜Important＞
MODE

Please do not move the device until the mode shows
GAIA(S), or the last digit of status becomes 4.

STATUSYou can also check the status by RAW data output. For more details, please check the
product specification.

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode10Command Input(1) With IMU being connected, press [Stop] button in monitor 3.
(2) Press [Terminal] button and enter the command in the command field. Press[Send] button to send commands. Checksum can be omittedEx) MVEL command (GPS dependence speed setting to 0.5m/s)$TSC,MVEL,0.5*CC<CR><LF>

Command Input Field[Send] button

Command List Example
 Save current setting Command: $TSC,SAV Yaw dead zone setting command: TSC,YAWF,a (a: deg/sec)
 Alignment Compensation Command: $TSC,ALGN GNSS/INS/VS Mode: $TSC,GVS1
 Setting Initializing Command:$TSC,ARST※While the terminal display is opened, CPU load is increased. After sending
command, it is recommended to close the terminal display.

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Support Manual for GNSS/INS/VS Mode11

2Interface Cable
If customer prepares a harness to be connected to the IMU, please refer to thefollowing pin assignment and connector part. Please also check section 2.3 incase that customer use our interface cable sold separately.
2.1 AU7684 Harness connection
AU7684 J1 Connector Pin Assignment
Pin#
RemarkSignal
1A
8V～28V DC
Power Source
1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B

Power Source 0V+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※
GND
BACK
PULSE

Connected to Signal GND

Pin#

7 6 5 4 3 2 1
A
B

Line#

J1(JST：LY20-14P-DT1-P1E-BR)
Diagram of AU7684 Harness
JST：LY10-DC14BR
Power Source (8～28VDC) GND

CAN

RS232CGPS Module
Speed Pulse, Back Signal
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Support Manual for GNSS/INS/VS Mode

12

2.2

TAG300 Harness connection
TAG300 J1 Connector Pin Assignment
Pin#
SignalRemarkA

Power Source

8V～28V DC

B

Power Source 0V

Connected to Signal GND

C
D
E
F
G
H
J
K
L
M

+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※GND

for GPS Power-supply

RS232 Level
RS232 Level

J1(SOURIAU：UTS71412P)
Diagram of TAG300 Harness
SOURIAU：UTS6GN1412S or UTS6JC1412S
Power Source (8～28VDC) GND

CAN

RS232CGPS Module

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Support Manual for GNSS/INS/VS Mode

13

2.3

TAG289 Pin Assignment

TAG289 Pin Assignment
Connector
TJ-560-※DE-9SF-N

SMP-05-NC

LoosenWire

Pin#

SignalRemarkRed

Power Source

8V～28V DC

BlackPower Source 0V
RS232 TXD
RS232 RXDGND
PPS INGND
GPS TXGPS RX
+5V
CAN H
CAN L
Discrete Signal
Discrete Signal

Connected to Signal GND

2
3
5
1
2
3
4
5
Yellow
Yellow/White
Gray
Gray/White

RS232 Level
RS232 Level
GPS Power Source
Back Signal
Pulse CountPower Source (8～28VDC) GND

CAN

RS232CGPS Module
Back Signal
Pulse Counter

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Support Manual for GNSS/INS/VS Mode14

2.4 Optional Interface Cable
We are preparing for an optional interface cable for AU7684 and TAG300.
Please contact to our sales office as written in the following page.
TAG289 Interface Cable is attached to the product.

AU7684 Interface Cable

TAG 300 Interface Cable

P/N: EU8937N1001
With GPS Module Connector
GPS: KGM-810GRB1_PS_917/
Position

P/N: EU8940N1001
With GPS Module Connector
GPS: KGM-810GRB1_PS_917/
Position

Note:
If there are unconnected pins, please protect the terminal part with a shrink tube sothat the cable terminal part is not short-circuited.

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Support Manual for GNSS/INS/VS Mode15

3External GPS Module
The AU7684 series, TAG300 series and TAG289 series can output GPS signal(latitude, longitude, altitude, direction, speed, UTC time, etc.) by connecting a
GPS module. In addition, the GPS speed and GPS direction are utilized for the
calculation to reduce Attitude and Heading angle errors.

3.1 Applicable GPS Module
P/N: KGM-810GRB1_PS_917 manufactured by Position
Seller:Yukihide Tanaka (Mr.)
CHIYODA ELECTRONIC CO., LTD.
Kanto Sales Office 4-1-20 9F, Higashishukugo, Utsunomiya Shi, Tochigi Ken,
321-0953, Japan
E-Mail：yu-tanaka@cec-chiyoda.co.jp
TEL： +81-28-637-3900 FAX： +81-28-637-3903
VCC（RED）
TX（GREEN）
Length：5000mm±250mm
RX（YELLOW）
GND（BLACK）
1PPS（WHITE）

Connector SMR-05V-N（JST）

Dimension：44.0×49.8×t 14.3mm

The connection with other GPS module such as C099-F9P/ u-blox can be customized.
For inquiries about availability, please submit the inquiry from our website.
https://mems.tamagawa-seiki.com/en/contact/form/

Copyright 2020 Tamagawa Seiki Co., Ltd. All rights reserved.
Support Manual for GNSS/INS/VS Mode16

3.2 Connection of AU7684 & External GPS Module (KGM-810GRB1_PS_917)
Please connect the GPS according to the following table.
AU7684 J1 Connector Pin Assignment
Pin#
Connection to GPS Module
Signal
1APower Source

1B
2A
2B
3A
3B
4A
4B
5A
5B
6A
6B
7A
7B

Power Source 0V+5V
RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※
GND
BACK
PULSE

→Vcc of GPS→Rx of GPS→Tx of GPS→1PPS of GPS→GND of GPS

When you use EU8937N1001, please follow the instruction below.

Connector: SMP-05V-NC
EU8937N1001 (AU7684 Interface Cable)

Connected to GPS Module

In Leveling mode, you need to make the setting of IMU to validate GPS. Restart
the IMU after sending a command to enable the GPS to the IMU using one of thefollowing methods. This operation is not needed in GNSS/VS/INS mode.
 Via RS232C Refer to specification P23
Ex) Send Command “$ TSC, GPS, ON” via InsMon
 Via CAN Refer to specification P43 (GPS Valid/ Invalid)
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Support Manual for GNSS/INS/VS Mode17

3.3 Connection of TAG300 & External GPS Module
Please connect the GPS according to the following table
TAG300 J1 Connector Pin Assignment (SOURIAU:UTS71412P)
Pin#

SignalRemarkA

Power Source

B

Power Source 0V

C+5V→Vcc of GPS

D
E
F
G
H
J
K
L
M

RS232 TXD
RS232 RXD
CAN H
CAN L
GND
GPS TX ※GPS RX ※PPS IN ※GND→Rx of GPS→Tx of GPS→1PPS of GPS→GND of GPS

When you use EU8940N1001, please follow the instruction below.

EU8940N1001 (TAG300 Interface Cable)
EU8940N1001 (TAG300 Interface Cable)

Connector: SMP-05V-NC
Connected to GPS Module

In Leveling mode, you need to make the setting of IMU to validate GPS. Restart
the IMU after sending a command to enable the GPS to the IMU using one of thefollowing methods. This operation is not needed in GNSS/VS/INS mode.
 Via RS232C Refer to specification P23
Ex) Send Command “$ TSC, GPS, ON” via InsMon (refer to page 13) Via CAN Refer to specification P42 (GPS Valid/ Invalid)

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Support Manual for GNSS/INS/VS Mode

18

3.4

Connection of TAG289 & External GPS Module

Please connect the GPS according to the following table
TAG289 Pin Assignment
Connector
TJ-560-※DE-9SF-N

SMP-05-NC

LoosenWire

Pin#

SignalRemarkRed

Power Source

8V～28V

Black

Power Source 0V

Connected to Signal GND

DC

2
3
5

RS232 TXD
RS232 RXD
GND

1

PPS IN→1PPS of GPS

2

GND→GND of GPS

3

GPS TX→Rx of GPS

4

GPS RX→Tx of GPS

5+5V→Vcc of GPS

CAN H
CAN L
Discrete Signal
Discrete Signal

Back Signal
Pulse Count

Yellow
Yellow/White
Gray
Gray/White

When you use EU8940N1001, please follow the instruction below.

SMP-05V-NC Connector

TAG289 Interface Cableis connected to GPS Module

You need to make the setting of IMU to validate GPS. Restart the IMU after
sending a command to enable the GPS to the IMU using one of the following
methods.


Via RS232C Refer to specification P23
Ex) Send Command “$ TSC, GPS, ON” via InsMon



Via CAN Refer to specification P43 (GPS Valid/ Invalid)

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Support Manual for GNSS/INS/VS Mode19

4Command List

No.

Command

1

GNSS ROM※

Initial Setting

Ref

Description

LVL

RAW

Raw data output

×

○

－

－

2

BIN

BIN data output

○

○

－

－

3

SAV

Save current setting

○

○

－

P19

4

OFC

Offset cancel

○

×

－

－

5

HRST

Heading angle reset

○

×

－

－

6

SPD

Vehicle Speed input

○

○

－

－

7

VER

Software version display

○

○

－

－

8

CAN

CAN communication setting

○

○

○

500kbps 50Hz

－

9

BIAS

Bias display

○

×

○

OFF

－

10

AVET

Averaging time setting

○

○

○

5 sec

－

11

YAWF

Yaw dead zone setting

○

×

○

0.3deg/sec

P20

12

LVLW

Leveling calculation setting

○

×

○

0.1Hz

－

13

LVLR

Leveling constant display

○

×

－

－

14

CAL

Sensor calibration

○

×

○

－

－

15

RCAL

Reset sensor calibration

○

×

○

－

－

16

ALGN

Alignment compensation

○

○

○

－

P21

17

RALN

Alignment compensation reset

○

○

○

－

P21

18

AXIS

Axis setting

○

○

○

Z-axis downward

P22

19

IDN

CAN standard ID setting

○

○

○

－

－

20

JIDN

CAN extension ID setting

○

○

○

－

－

21

CNID

CAN format setting

○

○

○

0:standard format

－

22

CNED

CAN endianness setting

○

○

○

1: Big Endianness

－

23

CNSW

CAN output ON/OFF

○

○

○

－

－

24

GPS

GPS validation

○

×

○

0:GPS invalid

－

25

SVEL

Vehicle speed input setting

○

○

○

0:GPS or CAN/RS232

－

26

LVL

Leveling mode setting

○

○

○

－

－

27

GVS1

GNSS/INS/VS mode setting

○

○

○

－

P23

28

GVS2

GNSS/INS mode setting

○

○

○

－

P23

29

MVEL

GPS dependence speed setting

○

○

○

0.2 m/s

P24

30

ARST

Initialization

○

○

○

－

P24

○

For items with ○ in ROM area, please turn off the device for about 1 second and restart
the power to reflect the setting change.

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Support Manual for GNSS/INS/VS Mode

20

SAV Command (Save current setting)
You can save the output status of IMU by this command. If SAV command isconducted while data is being output, IMU outputs the data without RAW data
request from the next startup, and the output cycle will be the same as when the
SAV command is executed.
■Usage■Setting
Command：$TSC,SAV*2C<CR><LF>
Response：ACK／NAK
Request for RAW data output at
your desirable output cycle.
Enter the SAV command, andconfirm the ACK response.

From the next startup, IMU
outputs the data at the same
cycle as when the SAV commandis executed.

The SAV command is not initialized by ARST command (initialization). It is possible toreturn to the initial setting by resending SAV command with IMU stopped.

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Support Manual for GNSS/INS/VS Mode21

YAWF command (Yaw dead zone setting)In order to suppress the yaw angle drift in static condition, Yaw dead zone can be
set. Within the dead zone, the Z-axis angular velocity input is judged to be zero andis not reflected in the calculation of the yaw angle. It is recommended to lower thesetting value when you want to measure the low speed range.
■UsageInitial Setting (Dead zone 0.3°/sec)

Angular Velocity: Z-axis (Static)

Z-axis of angular velocity
within the dead zone isrecognized as zero, and is
not reflected in thecalculation of yaw angle.

■Settings
Command: $TSC,YAWF, a*CC<CR><LF> (a: Dead Zone: [deg/sec])
Response: ACK response / NAK response

You can send the command from InsMon. Please input the command directly in thecommand field. Make sure that you can receive Ack message and turn-off the device.
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Support Manual for GNSS/INS/VS Mode22

ALGN Command (Alignment compensation)
If there is a mounting error or tilt on the IMU, that position can be set as horizontal
attitude. Realignment may not be performed correctly if the previous alignment
value is stored. Therefore, please conduct RALN (reset alignment) command andrestart IMU before realignment.
■UsageAxis

Even if the mounting
surface is tilted, it can be set
as horizontal surface.

Mounting surface

Horizontal surface
By sending RALN command (Alignment compensation reset), it is possible to returnto the initial setting.
■Setting
Command: $TSC,ALGN*6C<CR><LF>
Response: ACK response / NAK response

You can send the command from InsMon. Please click [ALGN] button. Make sure thatyou can receive Ack message and turn-off the device.

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Support Manual for GNSS/INS/VS Mode

23

AXIS Command (Axis setting)
The axis definition can be changed by this command. In case you need to install
IMU in a vertical direction, please send this command. The definition of axis isspecified as follows.
Command:$TSC,AXIS,a*CC<CR><LF>
a: Axis setting
1: Positive Z-axis points down into the ground (Initial setting)
2: Positive X-axis is reverted to Positive Z-axis.
3: Positive Y-axis is reverted to Positive Z-axis.

1: Positive Z-axis points down into the ground.

X

Z

Y

2: Positive X-axis is reverted to Positive Z-axis.
X

Z

Y

3: Positive Y-axis is reverted to Positive Z-axis.
X

Z

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Support Manual for GNSS/INS/VS ModeY24

GVS Command (GNSS/INS/VS Mode)
You can change the operation mode to GNSS/INS/VS mode by this command. The initial
setting is Leveling mode, so it is necessary to make a setting to use GNSS/INS/VS mode.
There are 2 types of GNSS/INS/VS mode, which are GNSS/INS/VS (GVS1) andGNSS/INS (GVS2). If you input the vehicle speed from an external device, the position
accuracy gets better.
■UsageDead-reckoning

Accurate attitude angle measurement
during cornering■Setting
GVS1 command (GNSS/INS with vehicle speed)
Command: $TSC,GVS1*1B<CR><LF>
Response: ACK response / NAK response
GVS2 command (GNSS/INS without vehicle speed)
Command: $TSC,GVS2*CC<CR><LF>
Response: ACK response / NAK response※Please be careful that the initial setting is Leveling Mode.
※Please refer to section 1 in this manual for switching the operation mode by InsMon.

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Support Manual for GNSS/INS/VS Mode

25

MVEL Command (GPS Dependence Speed)This command changes the GPS Dependence Speed. If the GPS speed exceeds thesetting value, the IMU will trust the GPS and follows the GPS heading. The accuracy of
the GPS heading may be deteriorated as the vehicle speed gets slower. The device
measures the yaw angle by integrating the angular velocity of Z axis when GPS speed
does not reach the setting value. The initial setting is 0.2m/s.
■Setting
Command: $TSC,MVEL,a*CC<CR><LF>
Response: ACK response / NAK response

You can send the command from InsMon. Please input the command directly in thecommand field. Make sure that you can receive Ack message and turn-off the device.

ARST Command (Initialization)
This command resets all settings except for SAV command. It will be validated fromthe next startup.
■Setting
Command: $TSC,ARST*7C <CR><LF>
Response: ACK response / NAK response

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Support Manual for GNSS/INS/VS Mode26